JP2021076811A - Camera device and optical output device - Google Patents

Abstract

To provide a camera device and an optical output device with which downsizing is possible.SOLUTION: A camera device 1 comprises a camera 3, a movable unit 10 that holds the camera 3, a fixing unit 20, and an electromagnetic drive part 30. The electromagnetic drive part 30 includes a first electromagnetic drive part 31, a second electromagnetic drive part 32, and a third electromagnetic drive part 33. An optical axis 1a intersects each of a first axis 1b and a second axis 1c. The first and second electromagnetic drive parts 31, 32 are arranged along the first axis 1b and arranged on the same side as a lens 3b of the camera 3 with respect to the first axis 1b. The second electromagnetic drive part 32 is arranged symmetrically with the first electromagnetic drive part 31 across the optical axis 1a when the camera 3 is in a neutral state. The third electromagnetic drive part 33 is arranged on the side opposite the lens 3b of the camera 3 across the first axis 1b. The first, second and third electromagnetic drive parts 31, 32, 33 are arranged around the second axis 1c.SELECTED DRAWING: Figure 1

Description

The present disclosure relates generally to a camera device and an optical output device, and more particularly to a camera device and an optical output device for rotating a drive target.

Conventionally, there is an input / output operation device having an actuator and an actuator in which an operation unit mounted on a movable unit rotates in three directions (rolling direction, panning direction, and tilting direction) (see Patent Document 1).

The actuator of Patent Document 1 includes a pair of first driving magnets arranged symmetrically with respect to the Z axis in a movable unit, and a pair of first driving magnets arranged in a fixed unit so as to face the pair of first driving magnets. It includes one magnetic yoke and a pair of first drive coils wound around each pair of first magnetic yokes. The actuator uses a pair of first drive magnets, a pair of first magnetic yokes, and a pair of first drive coils to rotate the operation unit around the X axis (rotate in the panning direction). ..

The actuator of Patent Document 1 includes a pair of second driving magnets arranged symmetrically with respect to the Z axis in the movable unit, and a pair of second driving magnets arranged in the fixed unit so as to face the pair of second driving magnets. It includes two magnetic yokes and a pair of second drive coils wound around a pair of second magnetic yokes, respectively. The actuator uses a pair of second drive magnets, a pair of second magnetic yokes, and a pair of second drive coils to rotate the operation unit around the Y axis (rotate in the tilting direction). ).

Further, the actuator of Patent Document 1 includes a pair of first magnetic yokes and a pair of third drive coils wound around a pair of second magnetic yokes, respectively. The actuator uses a pair of first drive magnets, a pair of second drive magnets, a pair of first magnetic yokes, a pair of second magnetic yokes, and a pair of third drive coils. Then, it is rotated around the Z axis (rotated in the rolling direction).

Japanese Unexamined Patent Publication No. 2015-215730

Actuators (camera devices, optical output devices) that rotate the drive target are desired to be miniaturized.

The present disclosure has been made in view of the above problems, and an object of the present disclosure is to provide a camera device and an optical output device that can be miniaturized.

The camera device according to one aspect of the present disclosure includes a camera, a movable unit that holds the camera, a fixed unit, and an electromagnetic drive unit. The camera has an incident portion for incident light and an optical axis. The fixed unit holds the movable unit so as to be rotatable in at least one rotational direction and rolling direction in the panning direction and the tilting direction. The electromagnetic drive unit rotationally drives the movable unit with respect to the fixed unit in the at least one direction and the rolling direction. The electromagnetic drive unit includes a first electromagnetic drive unit having a drive magnet provided in the movable unit, a magnetic yoke provided in the fixed unit, and a drive coil wound around the magnetic yoke, and a second electromagnetic drive unit. It includes an electromagnetic drive unit and a third electromagnetic drive unit. The optical axis intersects each of the first axis passing through the center of rotation of the movable unit and the second axis orthogonal to the first axis and passing through the center of rotation. The first electromagnetic drive unit and the second electromagnetic drive unit are arranged along the first axis and are arranged on the same side as the incident portion with respect to the first axis. The second electromagnetic drive unit is arranged symmetrically with respect to the optical axis when the camera is in the neutral state. The third electromagnetic drive unit is arranged on the side opposite to the incident unit with respect to the first axis. The first electromagnetic drive unit, the second electromagnetic drive unit, and the third electromagnetic drive unit are arranged around the second axis.

The optical output device according to one aspect of the present disclosure includes an optical output unit, a movable unit that holds the optical output unit, a fixed unit, and an electromagnetic drive unit. The light output unit has an exit unit that emits light and an optical axis. The fixed unit holds the movable unit so as to be rotatable in at least one rotational direction and rolling direction in the panning direction and the tilting direction. The electromagnetic drive unit rotationally drives the movable unit with respect to the fixed unit in the at least one direction and the rolling direction. The electromagnetic drive unit includes a first electromagnetic drive unit having a drive magnet provided in the movable unit, a magnetic yoke provided in the fixed unit, and a drive coil wound around the magnetic yoke, and a second electromagnetic drive unit. It includes an electromagnetic drive unit and a third electromagnetic drive unit. The optical axis intersects each of the first axis passing through the center of rotation of the movable unit and the second axis orthogonal to the first axis and passing through the center of rotation. The first electromagnetic drive unit and the second electromagnetic drive unit are arranged along the first axis and are arranged on the same side as the exit unit with respect to the first axis. The second electromagnetic drive unit is arranged symmetrically with respect to the optical axis when the optical output unit is in the neutral state. The third electromagnetic drive unit is arranged on the side opposite to the exit unit with respect to the first axis. The first electromagnetic drive unit, the second electromagnetic drive unit, and the third electromagnetic drive unit are arranged around the second axis.

According to the present disclosure, it is possible to reduce the size of the camera device and the optical output device.

FIG. 1A is a perspective view of the camera device according to the first embodiment. FIG. 1B is a plan view of the same camera device when the first housing is removed. FIG. 2 is a cross-sectional view of X1-X1 of FIG. 1B. FIG. 3 is a cross-sectional view taken along the line X2-X2 of FIG. 1B. FIG. 4 is an exploded perspective view of the same camera device. FIG. 5 is an exploded perspective view of a movable unit included in the camera device of the same. FIG. 6 is a diagram illustrating a case where the movable unit is rotated in the panning direction in the same camera device. FIG. 7 is a diagram illustrating a case where the movable unit is rotated in the rolling direction in the same camera device. FIG. 8 is a diagram illustrating a case where the movable unit is rotated in the tilting direction in the same camera device. FIG. 9 is a perspective view of the camera device according to the first modification of the first embodiment. FIG. 10 is a plan view of the same camera device. FIG. 11 is a diagram illustrating a configuration of a rider including the optical output device according to the second embodiment.

Each embodiment and modification described below is merely an example of the present disclosure, and the present disclosure is not limited to each embodiment and modification. Other than the following embodiments and modifications, various changes can be made according to the design and the like as long as they do not deviate from the technical idea of the present disclosure.

(Embodiment 1)
Hereinafter, the camera device according to the present embodiment will be described with reference to FIGS. 1A to 8.

(1) Outline The camera device 1 in the first embodiment includes an actuator 2 and a camera 3 to be rotated, and captures an image. The actuator 2 is configured to rotate the camera 3.

The camera 3 has a lens 3b, which is an incident portion for incident light, and an optical axis 1a.

The actuator 2 of the camera device 1 includes a movable unit 10, a fixed unit 20, and an electromagnetic drive unit 30. The movable unit 10 holds the camera 3. The fixed unit 20 holds the movable unit 10 so as to be rotatable in at least one rotation direction and rolling direction in the panning direction and the tilting direction. In the first embodiment, the fixed unit 20 holds the movable unit 10 so as to be rotatable in both the panning direction, the tilting direction, and the rolling direction. The electromagnetic drive unit 30 rotationally drives the movable unit 10 with respect to the fixed unit 20 in at least one rotational direction and rolling direction in the panning direction and the tilting direction. In the first embodiment, the electromagnetic drive unit 30 rotationally drives the movable unit 10 with respect to the fixed unit 20 in both the panning direction and the tilting direction and in the rolling direction. Here, the rolling direction is a rotation direction with the optical axis 1a as the rotation axis. The tilting direction is a rotation direction with the first axis 1b (see FIGS. 1A and 1B) as the rotation axis. The panning direction is a rotation direction with the second axis 1c (see FIGS. 1A and 1B) as the rotation axis. Here, the first axis 1b and the second axis 1c are orthogonal to each other. The optical axis 1a intersects the first axis 1b and the second axis 1c. In the first embodiment, the movable unit 10 (camera 3) is defined to be in a neutral state when the optical axis 1a is orthogonal to both the first axis 1b and the second axis 1c.

(2) Configuration The camera device 1 is, for example, a portable camera, and includes an actuator 2 and a camera 3 as shown in FIGS. 1A to 4. The camera device 1 includes an image pickup signal output line 300 connected to the camera 3 and a connector 301 provided at the end of the image pickup signal output line 300.

The camera 3 includes an image pickup element, a lens 3b for forming a subject image on the image pickup surface of the image pickup element, and a lens barrel holding the lens 3b, and converts an image formed on the image pickup surface of the image pickup element into an electric signal. Convert.

The camera 3 is electrically connected to the cable 11 via the connector 301. In the first embodiment, the cable 11 includes a plurality of thin coaxial cables having the same length. The camera 3 uses the cable 11 to transmit the electric signal generated by the image sensor to the image processing circuit.

The camera 3 outputs a signal as an image of the image input from the lens 3b.

As shown in FIGS. 1A and 4, the actuator 2 includes a housing 4, a movable unit 10, a fixed unit 20, an electromagnetic drive unit 30, and a printed circuit board 90.

The housing 4 has a first housing 4a and a second housing 4b. The camera device 1 accommodates the camera 3 and the actuator 2 in the first housing 4a and the second housing 4b.

As shown in FIGS. 1B, 2 and 3, the electromagnetic drive unit 30 includes a first electromagnetic drive unit 31, a second electromagnetic drive unit 32, and a third electromagnetic drive unit 33.

The first electromagnetic drive unit 31 and the second electromagnetic drive unit 32 are arranged along the first axis 1b and on the same side as the lens 3b with respect to the first axis 1b. The second electromagnetic drive unit 32 is symmetrically arranged on the first electromagnetic drive unit 31 with respect to the optical axis 1a when the camera 3 is in the neutral state (see FIG. 1B). For example, the second electromagnetic drive unit 32 is arranged line-symmetrically (or point-symmetrically) on the first electromagnetic drive unit 31 with respect to the optical axis 1a when the camera 3 is in the neutral state. The third electromagnetic drive unit 33 is arranged on the side opposite to the lens 3b with respect to the first axis 1b. The first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 are arranged around the second shaft 1c (see FIG. 1B).

The detailed configurations of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 will be described later.

The printed circuit board 90 has a first substrate 90a and a second substrate 90b. The first substrate 90a is provided with a plurality of magnetic sensors 92 (here, four) for detecting the rotational positions of the camera 3 in the tilting direction and the panning direction. Here, the magnetic sensor 92 is, for example, a Hall element. Of the four magnetic sensors 92, the magnetic sensor 92a is arranged along the optical axis 1a in the neutral state, and the magnetic sensor 92b is arranged along the first axis 1b (see FIG. 4).

For example, the first substrate 90a is provided with a processor that controls the entire camera device 1. This processor controls the rotation of the movable unit 10.

The second substrate 90b is provided with a connector connected to the cable 11. The cable 11 transmits an electric signal generated by the image sensor to the image processing circuit via this connector. In the present embodiment, the cable 11 is provided along the optical axis 1a when the movable unit 10 is in the neutral state. The cable 11 may be provided along the second shaft 1c or may be provided along the first shaft 1b.

The movable unit 10 supports the camera 3. The movable unit 10 has a camera holder 40 and a movable base portion 41 (see FIGS. 4 and 5). Further, the fixed unit 20 is fitted with the movable unit 10 by providing a gap between the fixed unit 20 and the movable unit 10. The movable unit 10 rotates (rolls) with respect to the fixed unit 20 about the optical axis 1a of the lens of the camera 3. Further, the movable unit 10 rotates about the first axis 1b and the second axis 1c orthogonal to the optical axis 1a with respect to the fixed unit 20. Here, the first axis 1b and the second axis 1c are orthogonal to the fitting direction in which the movable unit 10 is fitted to the fixed unit 20 in a state where the movable unit 10 is not rotating. Further, the first axis 1b and the second axis 1c are orthogonal to each other.

The camera 3 is attached to the camera holder 40. The camera holder 40 has a curved concave portion. The camera holder 40 has a spherical (spherical) idle fitting member 501 on the inner peripheral surface 410 of the curved concave portion. The free fitting member 501 is fixed to the inner peripheral surface 410 with an adhesive or the like. The free fitting member 501 is not limited to a sphere, and a part of the free fitting member 501 may have a spherical shape.

The movable base portion 41 forms a free fitting space 550 with the camera holder 40 (see FIG. 2). The movable base portion 41 includes a main body portion 601, a magnetic back yoke 605, and a plurality of (three in the illustrated example) driving magnets 620, 621, and 622 (see FIG. 5). The movable base portion 41 further includes a bottom plate 640, a position detection magnet 650, and a counterweight 660 (see FIG. 5).

The main body portion 601 has a disk portion and three L-shaped fixing portions projecting from the outer peripheral portion of the disk portion to the camera 3 side (upper side) (see FIG. 5). The three L-shaped fixing portions have a substantially L-shaped shape. The ends of each of the three L-shaped fixing portions are screwed to the camera holder 40. The free fitting space 550 is formed by connecting the main body portion 601 and the camera holder 40 (see FIG. 2).

The magnetic back yoke 605 has three back yokes 610, 611, 612 protruding from the outer peripheral portion of the bottom portion toward the camera 3 side (upper side) (see FIG. 5). The back yokes 610, 611, 612 have a substantially L-shape.

The three back yokes 610, 611, 612 have a one-to-one correspondence with the three L-shaped fixing portions. The magnetic back yoke 605 is arranged so that each of the back yokes 610, 611, and 612 overlaps the corresponding L-shaped fixing portion, and is fixed to the main body portion 601 with a screw.

The drive magnets 620, 621 and 622 are permanent magnets and have a one-to-one correspondence with each of the back yokes 610, 611 and 612. The drive magnet 620 is attached to the corresponding back yoke 610. The drive magnet 621 is attached to the corresponding back yoke 611. The drive magnet 622 is attached to the corresponding back yoke 612.

When the drive magnets 620, 621 and 622 are attached to the corresponding back yokes 610, 611 and 612, the centers of gravity of the drive magnets 620, 621 and 622 are on one side of the second axis 1c with respect to the rotation center 510. It is arranged so that it is located at. In other words, the drive magnets 620, 621 and 622 have a plane (reference) in which each straight line connecting the rotation center 510 and the center of gravity of the drive magnets 620, 621 and 622 includes the optical axis 1a and the first axis 1b in the neutral state. It is arranged so as to be located on the opposite side of the camera holder 40 with respect to the flat surface). The rotation center 510 is a rotation center point when the movable unit 10 rotates.

The angle θ1 formed by the straight line connecting the rotation center 510 and the center of gravity of the drive magnet 622 and the reference plane is preferably 45 degrees or less (see FIG. 2). The angle θ2 formed by the straight line connecting the rotation center 510 and the center of gravity of the driving magnet 620 and the reference plane, that is, the straight line and the optical axis 1a in the neutral state is preferably 45 degrees or less (see FIG. 3). The angle θ3 formed by the straight line connecting the rotation center 510 and the center of gravity of the drive magnet 621 and the reference plane is preferably 45 degrees or less (see FIG. 3).

The bottom plate 640 is non-magnetic and is made of, for example, resin. The bottom plate 640 is provided on the side of the main body 601 opposite to the camera holder 40, and forms the bottom of the movable unit 10 (movable base portion 41). The bottom plate 640 is fixed to the main body 601 with screws.

A protrusion 641 is provided in the center of the lower part of the bottom plate 640. The protrusion 641 is used to regulate the rotation of the movable unit 10.

The position detection magnet 650 is provided at the central portion of the exposed surface of the bottom plate 640.

The four magnetic sensors 92 provided on the first substrate 90a act on the four magnetic sensors 92 by changing the position of the position detection magnet 650 according to the rotation of the movable unit 10 when the movable unit 10 rotates. The magnetic force changes. The four magnetic sensors 92 detect the change in the magnetic force acting by the rotation of the position detection magnet 650, and calculate the two-dimensional rotation angle with respect to the optical axis 1a and the first axis 1b. The four magnetic sensors 92 are arranged on the first substrate 90a in parallel with the plane including the optical axis 1a and the first axis 1b. At this time, two of the four magnetic sensors 92, the magnetic sensors 92a, are arranged along the optical axis 1a in the neutral state in order to detect the rotational position of the movable unit 10 in the tilting direction. The remaining two magnetic sensors 92b are arranged along the first axis 1b in order to detect the rotational position of the movable unit 10 in the rolling direction.

The four magnetic sensors 92 and the position detection magnet 650 constitute a detection unit 920 that detects the rotation of the movable unit 10.

For example, when the position detection magnet 650 rotates in the tilting direction, the output of one of the two magnetic sensors 92a increases and the output of the other magnetic sensor 92a decreases. Based on the output values of the two magnetic sensors 92a, a voltage value corresponding to the amount of rotation in the tilting direction is output to the processor provided on the first substrate 90a. Similarly, when the position detection magnet 650 rotates in the rolling direction, the output of one of the two magnetic sensors 92b increases and the output of the other magnetic sensor 92b decreases. Based on the output values of the two magnetic sensors 92b, the voltage value corresponding to the amount of rotation in the rolling direction is output to the processor provided on the first substrate 90a.

The counterweight 660 is made of, for example, brass. The counterweight 660 is arranged on the side opposite to the lens 3b with respect to the first axis 1b, and further on the side opposite to the position detection magnet 650 with respect to the first axis 1b. By arranging the counterweight 660 in this way, it becomes possible to balance the movable unit 10.

The fixing unit 20 includes an arm 50 and a second housing 4b (see FIG. 4).

The arm 50 extends toward the free fitting space 550 and is fixed to the second housing 4b of the fixing unit 20. The arm 50 has a first arm 50a and a second arm 50b (see FIG. 5).

The first arm 50a is arranged between the first electromagnetic drive unit 31 and the third electromagnetic drive unit 33. The second arm 50b is arranged between the second electromagnetic drive unit 32 and the third electromagnetic drive unit 33. The second arm 50b is symmetrically arranged on the first arm 50a with respect to the optical axis 1a when the camera 3 is in the neutral state. Specifically, the first arm 50a and the second arm 50b are arranged line-symmetrically (or point-symmetrically) with respect to the optical axis 1a when the camera 3 is in the neutral state. Further, the first arm 50a and the second arm 50b are arranged along the first axis 1b.

The joint portion between the first arm 50a and the second arm 50b has a curved concave portion. The arm 50 has an inner peripheral surface of the recess as a free fitting surface 503 (see FIG. 5).

The free fitting surface 503 of the arm 50 and the free fitting member 501 are coupled. Specifically, the free fitting surface 503 makes point or line contact with the free fitting member 501 so as to be fitted through a slight gap. As a result, the arm 50 can pivotally support the movable unit 10 so that the movable unit 10 can rotate. Here, the center of the spherical free fitting member 501 becomes the rotation center 510, which is the center point of rotation.

The arm 50 sandwiches the movable base portion 41 with the second housing 4b and is screwed to the second housing 4b. Specifically, the tips of the three connecting rods are screwed to the second housing 4b.

The fixed unit 20 has a first coil unit 52, a second coil unit 53, and a third coil unit 54 in order to make the movable unit 10 rotatable by electromagnetic drive (see FIG. 4). ..

The first coil unit 52 has a magnetic yoke 710 made of a magnetic material, a first drive coil 720, a second drive coil 730, and a magnetic yoke holder 740 (see FIG. 4). The magnetic yoke 710 has a flat plate shape. The magnetic yoke 710 is attached to the magnetic yoke holder 740. A second drive coil 730 is formed by winding a conducting wire around the magnetic yoke 710 and the magnetic yoke holder 740 with the direction orthogonal to the second axis 1c as the winding direction. After that, a conducting wire is wound around the magnetic yoke 710 and the magnetic yoke holder 740 with the first shaft 1b as the winding direction to form the first drive coil 720.

The second coil unit 53 has a magnetic yoke 711 made of a magnetic material, a first drive coil 721, a second drive coil 731, and a magnetic yoke holder 741 (see FIG. 4). The magnetic yoke 711 has a flat plate shape. The magnetic yoke 711 is attached to the magnetic yoke holder 741. A conducting wire is wound around the magnetic yoke 711 and the magnetic yoke holder 741 with the direction orthogonal to the second axis 1c as the winding direction to form the second drive coil 731. After that, a conducting wire is wound around the magnetic yoke 711 and the magnetic yoke holder 741 with the first shaft 1b as the winding direction to form the first drive coil 721.

The third coil unit 54 has a magnetic yoke 712 made of a magnetic material, a first drive coil 722, a second drive coil 732, and a magnetic yoke holder 742 (see FIG. 4). The magnetic yoke 712 has a flat plate shape. The magnetic yoke 712 is attached to the magnetic yoke holder 742. A conducting wire is wound around the magnetic yoke 712 and the magnetic yoke holder 742 with the direction orthogonal to the second axis 1c as the winding direction to form the second drive coil 732. After that, a conducting wire is wound around the magnetic yoke 712 and the magnetic yoke holder 742 with the first shaft 1b as the winding direction to form the first drive coil 722.

The first coil unit 52 and the second coil unit 53 are screwed to the second housing 4b so as to be arranged along the first axis 1b and on the same side as the lens 3b with respect to the first axis 1b. It is fixed with. The second coil unit 53 is symmetrically arranged on the first coil unit 52 with respect to the optical axis 1a when the camera 3 is in the neutral state. For example, the second coil unit 53 is arranged line-symmetrically (or point-symmetrically) with respect to the optical axis 1a when the camera 3 is in the neutral state. The third coil unit 54 is fixed to the second housing 4b with screws so as to be arranged on the side opposite to the lens 3b with respect to the first shaft 1b. The first coil unit 52, the second coil unit 53, and the third coil unit 54 are arranged around the second shaft 1c.

The first coil unit 52 (magnetic yoke 710) is arranged so as to face the driving magnet 620. At this time, the center of gravity of the driving magnet 620 is included in the straight line connecting the center of gravity of the magnetic yoke 710 and the center of rotation 510.

The second coil unit 53 (magnetic yoke 711) is arranged so as to face the driving magnet 621. At this time, the center of gravity of the driving magnet 621 is included in the straight line connecting the center of gravity of the magnetic yoke 711 and the center of rotation 510.

The third coil unit 54 (magnetic yoke 712) is arranged so as to face the driving magnet 622. At this time, the center of gravity of the driving magnet 622 is included in the straight line connecting the center of gravity of the magnetic yoke 712 and the center of rotation 510.

That is, in the magnetic yoke 710, 711, 712, each straight line connecting the rotation center 510 and the center of gravity of the magnetic yoke 710, 711, 712 is a plane (reference plane) including the optical axis 1a and the first axis 1b in the neutral state. ), It is arranged so as to be located on the opposite side of the camera holder 40. In other words, the magnetic yokes 710, 711 and 712 are arranged so that the centers of gravity of the magnetic yokes 710, 711 and 712 are located on one side of the second axis 1c with respect to the rotation center 510.

The center of rotation 510, the center of gravity of the driving magnet 622, and the center of gravity of the magnetic yoke 712 are in a straight line. Further, as described above, the angle θ1 formed by the straight line connecting the rotation center 510 and the center of gravity of the drive magnet 622 and the reference plane is preferably 45 degrees or less. Therefore, the angle θ1 formed by the straight line connecting the center of rotation 510 and the center of gravity of the magnetic yoke 712 and the reference plane is preferably 45 degrees or less.

The center of rotation 510, the center of gravity of the driving magnet 620, and the center of gravity of the magnetic yoke 710 are in a straight line. Further, as described above, the angle θ2 formed by the straight line connecting the rotation center 510 and the center of gravity of the drive magnet 620 and the reference plane is preferably 45 degrees or less. Therefore, the angle θ2 formed by the straight line connecting the center of rotation 510 and the center of gravity of the magnetic yoke 710 and the reference plane is preferably 45 degrees or less.

The center of rotation 510, the center of gravity of the driving magnet 621, and the center of gravity of the magnetic yoke 711 are in a straight line. Further, as described above, the angle θ3 formed by the straight line connecting the rotation center 510 and the center of gravity of the drive magnet 621 and the reference plane is preferably 45 degrees or less. Therefore, the angle θ3 formed by the straight line connecting the center of rotation 510 and the center of gravity of the magnetic yoke 711 and the reference plane is preferably 45 degrees or less.

A magnetic attraction force F1 is generated between the drive magnet 620 and the magnetic yoke 710, between the drive magnet 621 and the magnetic yoke 711, and between the drive magnet 622 and the magnetic yoke 712. That is, a magnetic attraction force F1 is generated in each of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33. The free fitting surface 503 and the free fitting member 501 are in contact (point contact or line contact) due to the magnetic attraction force F1 generated in each of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33. To do.

Further, the vector of the magnetic attraction force F1 generated in each of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 is a vector downward with respect to the reference plane. Therefore, the composite vector F2 obtained by synthesizing the vectors of the magnetic attraction forces F1 generated in each of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 is the center of rotation in the rotation range of the movable unit 10. It faces one side (downward) of the second axis with respect to 510. The balance of forces in each magnetic attraction force F1 and synthetic vector F2 resembles the mechanical configuration of "balancing toy", and the movable unit 10 can stably rotate in three axial directions.

The processor described above controls the current flowing through the first drive coil 720, 721, 722 and the second drive coil 730, 731, 732 according to the direction of rotation to be controlled.

The processor controls each of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 according to the direction in which the movable unit 10 (camera 3) is rotated. In other words, the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 are configured to be able to control the rotation of the movable unit 10 independently of each other.

A current corresponding to a desired rotation angle flows through each of the second drive coils 730, 731, and 732. At this time, the movable unit 10 is generated by the Lorentz force generated by the current flowing in the drive coils 730, 731, 732 in the magnetic flux generated between the drive magnets 620, 621 and 622 and the opposing magnetic yokes 710, 711 and 712. Rotates around the second axis 1c as a rotation axis, that is, rotates in the panning direction. The movable unit 10 may be rotated in the panning direction by passing a current through at least one of the second drive coils 730, 731, and 732. For example, the processor controls the second drive coil 730 so that the magnetic flux φ1 generated by the second drive coil 730 is generated in the direction away from the lens 3b of the camera 3. The processor controls the second drive coil 731 so that the magnetic flux φ2 generated by the second drive coil 731 is generated in the direction approaching the lens 3b of the camera 3. The processor controls the second drive coil 731 so that the magnetic flux φ3 generated by the second drive coil 732 is generated in the direction from the second drive coil 730 to the second drive coil 731. As a result, the camera 3 (movable unit 10) rotates about the second axis 1c in the direction of the second drive coil 730 with respect to the center line 1d (see FIG. 6). Here, the center line 1d is an axis that coincides with the optical axis 1a when the camera 3 is in the neutral state. In FIG. 6, the first housing 4a and the cable 11 are omitted. In the present embodiment, the movable unit 10 preferably has a rotation range of ± 4 degrees with respect to the optical axis 1a when the movable unit 10 is in the neutral state in the panning direction.

A current corresponding to a desired rotation angle flows through each of the first drive coils 720 and 721. At this time, the movable unit 10 causes the optical axis 1a to move due to the Lorentz force generated by the current flowing through the drive coils 720 and 721 in the magnetic flux generated between the drive magnets 620 and 621 and the magnetic yokes 710 and 711 facing each other. It rotates as a rotation axis, that is, it rotates in the rolling direction. For example, the processor controls the first drive coil 720 so that the magnetic flux φ10 generated by the first drive coil 720 is generated in the direction from the lower side to the upper side. The processor controls the first drive coil 721 so that the magnetic flux φ11 generated by the first drive coil 721 is generated in the direction from upward to downward. As a result, the camera 3 (movable unit 10) rotates clockwise about the optical axis 1a when viewed from the lens 3b side (see FIG. 7). In the present embodiment, the movable unit 10 preferably has a rotation range of ± 10 degrees with respect to the optical axis 1a when the movable unit 10 is in the neutral state in the rolling direction.

A current corresponding to a desired rotation angle flows through each of the first drive coils 720, 721, and 722. At this time, the movable unit 10 is generated by the Lorentz force generated by the current flowing in the drive coils 720, 721, 722 in the magnetic flux generated between the drive magnets 620, 621 and 622 and the opposing magnetic yokes 710, 711 and 712. Rotates around the first axis 1b as a rotation axis, that is, rotates in the tilting direction. For example, the processor controls the first drive coils 720 and 721 so that the magnetic flux φ20 generated by the first drive coil 720 and the magnetic flux φ21 generated by the first drive coil 721 are generated in the directions from the lower side to the upper side, respectively. The processor controls the first drive coil 722 so that the magnetic flux φ22 generated by the first drive coil 722 is generated in the direction from upward to downward. As a result, the camera 3 (movable unit 10) rotates upward with respect to the center line 1d about the first axis 1b (see FIG. 8). In the present embodiment, the movable unit 10 preferably has a rotation range of ± 10 degrees with respect to the optical axis 1a when the movable unit 10 is in the neutral state in the tilting direction.

The rotary drive is not limited to the above drive method. For example, the camera device 1 may connect the first electromagnetic drive unit 31 and the second electromagnetic drive unit 32 in series opposite phases to rotate the movable unit 10 in the rolling direction.

As described above, the drive coils used when rotating the movable unit 10 in the panning direction are the second drive coils 730, 731, 732. The drive coils used when rotating the movable unit 10 in the tilting direction are the first drive coils 720, 721, and 722. That is, the drive coil that rotates the movable unit 10 in the panning direction and the drive coil that rotates the movable unit 10 in the tilting direction are different.

The second housing 4b has an opening 5. A bottom plate 640 is arranged above the opening 5. When the movable unit 10 rotates, the bottom plate 640 also rotates with the rotation. When the bottom plate 640 rotates, the protrusion 641 of the bottom plate 640 comes into contact with the edge 5a of the opening 5, so that the rotation of the movable unit 10 is restricted.

The camera 3 attached to the camera holder 40 sandwiches the arm 50 with the movable base portion 41 and is fixed to the movable unit 10.

As described above, the electromagnetic drive unit 30 includes a first electromagnetic drive unit 31, a second electromagnetic drive unit 32, and a third electromagnetic drive unit 33.

The first electromagnetic drive unit 31 includes a drive magnet 620 provided in the movable unit 10, a magnetic yoke 710 provided in the fixed unit 20, a first drive coil 720 wound around the magnetic yoke 710, and a second drive coil 730. It has a magnetic yoke holder 740. That is, the first electromagnetic drive unit 31 has a drive magnet 620 and a first coil unit 52.

The second electromagnetic drive unit 32 includes a drive magnet 621 provided in the movable unit 10, a magnetic yoke 711 provided in the fixed unit 20, a first drive coil 721 wound around the magnetic yoke 711, and a second drive coil 731. It has a magnetic yoke holder 740. That is, the second electromagnetic drive unit 32 has a drive magnet 621 and a second coil unit 53.

The third electromagnetic drive unit 33 includes a drive magnet 622 provided in the movable unit 10, a magnetic yoke 712 provided in the fixed unit 20, a first drive coil 722 wound around the magnetic yoke 712, and a second drive coil 732. It has a magnetic yoke holder 742. That is, the third electromagnetic drive unit 33 has a drive magnet 622 and a third coil unit 54.

Since each component of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 has already been described, the description thereof will be omitted here.

The first coil unit 52 (magnetic yoke 710) is arranged so as to face the driving magnet 620. The second coil unit 53 (magnetic yoke 711) is arranged so as to face the driving magnet 621. The third coil unit 54 (magnetic yoke 712) is arranged so as to face the driving magnet 622. Further, the first coil unit 52 and the second coil unit 53 are arranged along the first axis 1b and on the same side as the lens 3b with respect to the first axis 1b. The second coil unit 53 is symmetrically arranged on the first coil unit 52 with respect to the optical axis 1a when the camera 3 is in the neutral state. The third coil unit 54 is arranged on the side opposite to the lens 3b with respect to the first axis 1b.

Therefore, the first electromagnetic drive unit 31 and the second electromagnetic drive unit 32 are arranged along the first axis 1b and on the same side as the lens 3b with respect to the first axis 1b. The second electromagnetic drive unit 32 is symmetrically arranged on the first electromagnetic drive unit 31 with respect to the optical axis 1a when the camera 3 is in the neutral state (see FIG. 1B). In the first embodiment, the lens 3b, the first electromagnetic drive unit 31 and the second electromagnetic drive unit 32 are along the first axis 1b when viewed from the direction of the optical axis 1a when the camera 3 is in the neutral state. The first electromagnetic drive unit 31, the lens 3b, and the second electromagnetic drive unit 32 are arranged in this order.

Further, the third electromagnetic drive unit 33 is arranged on the side opposite to the lens 3b with respect to the first axis 1b. The first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 are arranged around the second shaft 1c (see FIG. 1B). In the first embodiment, the third electromagnetic drive unit 33 is arranged on an extension line of the optical axis 1a when the camera 3 is in the neutral state. A part of the third electromagnetic drive unit 33 may be arranged on an extension line of the optical axis 1a when the camera 3 is in the neutral state. That is, a part of the third electromagnetic drive unit 33 may be arranged on an extension line of the optical axis 1a when the camera 3 is in the neutral state.

As described above, the first coil unit 52, the second coil unit 53, and the third coil unit 54 are fixed to the second housing 4b with screws. That is, the second housing 4b included in the fixed unit includes the first drive coil 720 and the second drive coil 730 of the first electromagnetic drive unit 31, and the second electromagnetic drive unit 32 first drive coil 721 and the second drive coil 731. And, the first drive coil 722 and the second drive coil 732 of the third electromagnetic drive unit 33 function as a fixing unit for fixing. That is, the fixed unit 20 includes the first drive coil 720 and the second drive coil 730 of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, the first drive coil 721 and the second drive coil 731, and the third electromagnetic drive. A second housing 4b is provided as a fixing portion for fixing the first drive coil 722 and the second drive coil 732 of the portion 33.

As described above, the camera device 1 includes the connector 301. The connector 301 is arranged on the second axis 1c with respect to the rotation center 510 on the side opposite to the detection unit 920, that is, on the side opposite to the four magnetic sensors 92 and the position detection magnet 650. The cable 11 connected to the connector 301 is pulled out above the third electromagnetic drive unit 33 (see FIG. 2). The cable 11 pulled out above the third electromagnetic drive unit 33 is wired so as to face the third coil unit 54. Then, the cable 11 is folded back so as to face upward, passes above the second substrate 90b, and is connected to the connector provided on the second substrate 90b.

(3) Advantages As described above, the camera device 1 of the first embodiment includes a camera 3, a movable unit 10 for holding the camera 3, a fixed unit 20, and an electromagnetic drive unit 30. The camera 3 has a lens 3b and an optical axis 1a as an incident portion for incident light. The fixed unit 20 holds the movable unit 10 so as to be rotatable in the panning direction, the tilting direction, and the rolling direction. The electromagnetic drive unit 30 rotationally drives the movable unit 10 with respect to the fixed unit 20 in the panning direction, the tilting direction, and the rolling direction. The electromagnetic drive unit 30 includes a first electromagnetic drive unit 31, a second electromagnetic drive unit 32, and a third electromagnetic drive unit 33. The first electromagnetic drive unit 31 has a drive magnet 620 provided in the movable unit 10, a magnetic yoke 710 provided in the fixed unit 20, and a first drive coil 720 wound around the magnetic yoke 710. The second electromagnetic drive unit 32 has a drive magnet 621 provided in the movable unit 10, a magnetic yoke 711 provided in the fixed unit 20, and a first drive coil 721 wound around the magnetic yoke 711. The third electromagnetic drive unit 33 has a drive magnet 622 provided in the movable unit 10, a magnetic yoke 712 provided in the fixed unit 20, and a first drive coil 722 wound around the magnetic yoke 712. The optical axis 1a intersects each of the first axis 1b passing through the rotation center 510 of the movable unit 10 and the second axis 1c orthogonal to the first axis 1b and passing through the rotation center 510. The first electromagnetic drive unit 31 and the second electromagnetic drive unit 32 are arranged along the first axis 1b and on the same side as the lens 3b with respect to the first axis 1b. The second electromagnetic drive unit 32 is symmetrically arranged on the first electromagnetic drive unit 31 with respect to the optical axis 1a when the camera 3 is in the neutral state. The third electromagnetic drive unit 33 is arranged on the side opposite to the lens 3b with respect to the first axis 1b. The first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 are arranged around the second shaft 1c.

By the way, a conventional actuator including a camera has a plurality of driving magnets for rotating a movable unit in a panning direction, a tilting direction, and a rolling direction around the Z axis (corresponding to the optical axis 1a of the present embodiment). All of the magnetic yoke and the plurality of drive yokes are arranged. That is, all of the plurality of drive magnets, the plurality of magnetic yokes, and the plurality of drive yokes are arranged around the camera centered on the optical axis in the neutral state of the movable unit.

On the other hand, since the camera device 1 of the present embodiment has the above-described configuration, the first unit for rotating the movable unit in the panning direction, the tilting direction, and the rolling direction around the optical axis 1a of the camera 3. At least a part of the electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 is not arranged.

That is, in the present embodiment, the area around the camera 3 centered on the optical axis 1a in the neutral state of the movable unit 10 can be reduced as compared with the conventional actuator (camera device).

(4) Modification examples The following are modifications. The modifications described below can be applied in combination with each of the above embodiments as appropriate.

(4-1) Modification 1
In the above embodiment, the electromagnetic drive unit 30 has a configuration including a first electromagnetic drive unit 31, a second electromagnetic drive unit 32, and a third electromagnetic drive unit 33, but is not limited to this configuration.

The electromagnetic drive unit 30 may have another electromagnetic drive unit in addition to the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33.

The camera device 1A according to the first modification will be described with reference to FIGS. 9 and 10, focusing on the differences from the camera device 1 of the first embodiment. The same components as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted as appropriate.

The camera device 1A includes an actuator 2A and a camera 3. The camera device 1A includes an imaging signal output line 300 and a connector 301, similarly to the camera device 1 of the first embodiment.

As shown in FIGS. 9 and 10, the actuator 2A includes a movable unit 10, a fixed unit 20, and an electromagnetic drive unit 30A. Like the actuator 2 of the first embodiment, the actuator 2A includes a housing 4 having a first housing 4a and a second housing 4b, and a printed circuit board 90.

As shown in FIGS. 9 and 10, the electromagnetic drive unit 30A includes a first electromagnetic drive unit 31, a second electromagnetic drive unit 32, a third electromagnetic drive unit 33, and a fourth electromagnetic drive unit 34.

The first electromagnetic drive unit 31 and the second electromagnetic drive unit 32 are arranged along the first axis 1b and on the same side as the lens 3b with respect to the first axis 1b. The second electromagnetic drive unit 32 is symmetrically arranged on the first electromagnetic drive unit 31 with respect to the optical axis 1a when the camera 3 is in the neutral state (see FIG. 10). For example, the second electromagnetic drive unit 32 is arranged line-symmetrically (or point-symmetrically) on the first electromagnetic drive unit 31 with respect to the optical axis 1a when the camera 3 is in the neutral state.

The third electromagnetic drive unit 33 and the fourth electromagnetic drive unit 34 are arranged on the side opposite to the lens 3b with respect to the first axis 1b. The fourth electromagnetic drive unit 34 is symmetrically arranged on the third electromagnetic drive unit 33 with respect to the optical axis 1a when the camera 3 is in the neutral state (see FIG. 10). For example, the fourth electromagnetic drive unit 34 is arranged line-symmetrically (or point-symmetrically) on the third electromagnetic drive unit 33 with respect to the optical axis 1a when the camera 3 is in the neutral state.

The first electromagnetic drive unit 31 and the third electromagnetic drive unit 33 are arranged on one side of the optical axis 1a when the camera 3 is in the neutral state when viewed from the second axis 1c. The second electromagnetic drive unit 32 and the fourth electromagnetic drive unit 34 are arranged on the opposite side of the optical axis 1a when the camera 3 is in the neutral state when viewed from the second axis 1c.

The first electromagnetic drive unit 31, the second electromagnetic drive unit 32, the third electromagnetic drive unit 33, and the fourth electromagnetic drive unit 34 are arranged around the second shaft 1c (see FIG. 10).

The fourth electromagnetic drive unit 34 has a drive magnet which is a permanent magnet and a coil unit, as in the configuration of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33. The fourth coil unit of the fourth electromagnetic drive unit 34 has a magnetic yoke formed of a magnetic material and a first drive coil, as in the configuration of the first coil unit 52, the second coil unit 53, and the third coil unit 54. It has a second drive coil and a magnetic yoke holder. The magnetic yoke of the fourth electromagnetic drive unit 34 has a flat plate shape. The magnetic yoke of the fourth electromagnetic drive unit 34 is attached to the magnetic yoke holder of the fourth electromagnetic drive unit 34. A conducting wire is wound around the magnetic yoke of the fourth electromagnetic drive unit 34 and the magnetic yoke holder of the fourth electromagnetic drive unit 34 with the direction orthogonal to the second axis 1c as the winding direction, and the second drive coil of the fourth electromagnetic drive unit 34 is formed. It is formed. After that, a conducting wire is wound around the magnetic yoke of the fourth electromagnetic drive unit 34 and the magnetic yoke of the fourth electromagnetic drive unit 34 with the first shaft 1b as the winding direction to form the first drive coil of the fourth electromagnetic drive unit 34. To.

The first coil unit 52 and the second coil unit 53 are screwed to the second housing 4b so as to be arranged along the first axis 1b and on the same side as the lens 3b with respect to the first axis 1b. It is fixed with. The second coil unit 53 is symmetrically arranged on the first coil unit 52 with respect to the optical axis 1a when the camera 3 is in the neutral state. For example, the second coil unit 53 is arranged line-symmetrically (or point-symmetrically) with respect to the optical axis 1a when the camera 3 is in the neutral state.

The third coil unit 54 and the fourth coil unit are screwed to the second housing 4b so as to be arranged along the first axis 1b and opposite to the lens 3b with respect to the first axis 1b. It is fixed. The fourth coil unit is symmetrically arranged on the third coil unit 54 with respect to the optical axis 1a when the camera 3 is in the neutral state. For example, the fourth coil unit is arranged line-symmetrically (or point-symmetrically) with respect to the optical axis 1a when the camera 3 is in the neutral state with respect to the third coil unit 54.

The first coil unit 52 and the third coil unit 54 are arranged on one side of the optical axis 1a when the camera 3 is in the neutral state when viewed from the second axis 1c. The second coil unit 53 and the fourth coil unit are arranged on the opposite side of the optical axis 1a when the camera 3 is in the neutral state when viewed from the second axis 1c.

The first coil unit 52, the second coil unit 53, the third coil unit 54, and the fourth coil unit are arranged around the second shaft 1c.

The fourth coil unit (magnetic yoke) is arranged so as to face the driving magnet of the fourth electromagnetic driving unit 34. At this time, the center of gravity of the driving magnet 620 is included in the straight line connecting the center of gravity of the magnetic yoke 710 and the center of rotation 510. That is, the magnetic yoke of the fourth coil unit is arranged so that the straight line connecting the rotation center 510 and the center of gravity of the magnetic yoke of the fourth coil unit is located on the opposite side of the reference plane to the camera holder 40. .. In other words, the magnetic yoke of the fourth coil unit is arranged so that the center of gravity of the magnetic yoke of the fourth coil unit is located on one side of the second axis 1c with respect to the rotation center 510.

The center of rotation 510, the center of gravity of the drive magnet of the fourth electromagnetic drive unit 34, and the center of gravity of the magnetic yoke of the fourth electromagnetic drive unit 34 are in a straight line. At this time, the angle formed by the straight line connecting the rotation center 510 and the center of gravity of the magnetic yoke of the fourth electromagnetic drive unit 34 and the reference plane is preferably 45 degrees or less.

A magnetic attraction force is generated between the driving magnet of the fourth electromagnetic driving unit 34 and the magnetic yoke of the fourth electromagnetic driving unit 34. That is, a magnetic attraction force is generated in the fourth electromagnetic drive unit 34. The free fitting surface 503 and the free fitting member 501 are generated by the magnetic attraction force generated in the fourth electromagnetic drive unit 34 and the magnetic attraction force F1 generated in the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33. Is in contact (point contact or line contact).

Further, the vector of the magnetic attraction force F1 generated in each of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 and the magnetic attraction force generated in the fourth electromagnetic drive unit 34 are relative to the reference plane. Becomes a downward vector. Therefore, a composite of the vector of the magnetic attraction force F1 generated in each of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 and the vector of the magnetic attraction force generated in the fourth electromagnetic drive unit 34 is combined. The vector points to one side (downward) of the second axis with respect to the 510 cores during rotation in the rotation range of the movable unit 10.

The processor of the camera device 1A has a pair of a first electromagnetic drive unit 31 and a fourth electromagnetic drive unit 34, and a second electromagnetic drive unit 32 and a third electromagnetic drive unit, depending on the direction in which the movable unit 10 (camera 3) is rotated. It controls each pair with the drive unit 33. In other words, the pair of the first electromagnetic drive unit 31 and the fourth electromagnetic drive unit 34 and the pair of the second electromagnetic drive unit 32 and the third electromagnetic drive unit 33 control the rotation of the movable unit 10 independently of each other. It is configured to be possible.

When the movable unit 10 rotates in the panning direction, the pair of the second drive coil 730 of the first electromagnetic drive unit 31 and the second drive coil of the fourth electromagnetic drive unit 34, and the second of the second electromagnetic drive unit 32. A current corresponding to a desired rotation angle flows through each of the pair of the drive coil 731 and the second drive coil 732 of the third electromagnetic drive unit 33. At this time, the second in the magnetic flux generated between the driving magnets 620, 621 and 622 and the driving magnet of the fourth electromagnetic driving unit and the magnetic yokes of the opposing magnetic yokes 710, 711 and 712 and the fourth electromagnetic driving unit. The movable unit 10 rotates in the panning direction due to the Lorentz force generated by the current flowing through the drive coils 730, 731, 732 and the second drive coil of the fourth electromagnetic drive unit. The amount of current flowing through the pair of the second drive coil 730 of the first electromagnetic drive unit 31 and the second drive coil of the fourth electromagnetic drive unit 34 is the same. The direction of the magnetic flux generated by the second drive coil 730 of the first electromagnetic drive unit 31 and the direction of the magnetic flux generated by the second drive coil of the fourth electromagnetic drive unit 34 are opposite to each other. Similarly, the amount of current flowing through the pair of the second drive coil 731 of the second electromagnetic drive unit 32 and the second drive coil 732 of the third electromagnetic drive unit 33 is the same. The direction of the magnetic flux generated by the second drive coil 731 of the second electromagnetic drive unit 32 and the direction of the magnetic flux generated by the second drive coil 732 of the third electromagnetic drive unit 33 are opposite to each other. The pair of the second drive coil 730 of the first electromagnetic drive unit 31 and the second drive coil of the fourth electromagnetic drive unit 34, and the second drive coil 731 and the third electromagnetic drive unit 33 of the second electromagnetic drive unit 32. The movable unit 10 may be rotated in the panning direction by passing a current through each of the second drive coils of at least one pair of the pair with the second drive coil 732.

When the movable unit 10 rotates in the panning direction, a pair of the first drive coil 720 of the first electromagnetic drive unit 31 and the first drive coil of the fourth electromagnetic drive unit 34, and the first drive of the second electromagnetic drive unit 32. A current corresponding to a desired rotation angle flows through each of the pair of the coil 721 and the first drive coil 722 of the third electromagnetic drive unit 33. At this time, the first in the magnetic flux generated between the driving magnets 620, 621 and 622 and the driving magnet of the fourth electromagnetic driving unit and the magnetic yokes of the opposing magnetic yokes 710, 711 and 712 and the fourth electromagnetic driving unit. The movable unit 10 rotates in the rolling direction due to the Lorentz force generated by the current flowing through the drive coils 720, 721, 722 and the first drive coil of the fourth electromagnetic drive unit. The amount of current flowing through the pair of the first drive coil 720 of the first electromagnetic drive unit 31 and the first drive coil of the fourth electromagnetic drive unit 34 is the same. The direction of the magnetic flux generated by the first drive coil 720 of the first electromagnetic drive unit 31 and the direction of the magnetic flux generated by the first drive coil of the fourth electromagnetic drive unit 34 are opposite to each other. Similarly, the amount of current flowing through the pair of the first drive coil 721 of the second electromagnetic drive unit 32 and the first drive coil 722 of the third electromagnetic drive unit 33 is the same. The direction of the magnetic flux generated by the first drive coil 721 of the second electromagnetic drive unit 32 and the direction of the magnetic flux generated by the first drive coil 722 of the third electromagnetic drive unit 33 are opposite to each other. Further, the direction of the magnetic flux generated by the first drive coil 720 of the first electromagnetic drive unit 31 and the direction of the magnetic flux generated by the first drive coil 721 of the second electromagnetic drive unit 32 are opposite to each other. The direction of the magnetic flux generated by the first drive coil 722 of the third electromagnetic drive unit 33 and the direction of the magnetic flux generated by the first drive coil of the fourth electromagnetic drive unit 34 are opposite to each other. The pair of the first drive coil 720 of the first electromagnetic drive unit 31 and the first drive coil of the fourth electromagnetic drive unit 34, and the first drive coil 721 and the third electromagnetic drive unit 33 of the second electromagnetic drive unit 32. The movable unit 10 may be rotated in the rolling direction by passing a current through each of the second drive coils of at least one pair of the pair with the first drive coil 722.

When the movable unit 10 rotates in the tilting direction, a pair of the first drive coil 720 of the first electromagnetic drive unit 31 and the first drive coil of the fourth electromagnetic drive unit 34, and the first of the second electromagnetic drive unit 32. A current corresponding to a desired rotation angle flows through each of the pair of the drive coil 721 and the first drive coil 722 of the third electromagnetic drive unit 33. At this time, the first in the magnetic flux generated between the driving magnets 620, 621 and 622 and the driving magnet of the fourth electromagnetic driving unit and the magnetic yokes of the opposing magnetic yokes 710, 711 and 712 and the fourth electromagnetic driving unit. The movable unit 10 rotates in the tilting direction due to the Lorentz force generated by the current flowing through the drive coils 720, 721, 722 and the first drive coil of the fourth electromagnetic drive unit. The amount of current flowing through the pair of the first drive coil 720 of the first electromagnetic drive unit 31 and the first drive coil of the fourth electromagnetic drive unit 34 is the same. The direction of the magnetic flux generated by the first drive coil 720 of the first electromagnetic drive unit 31 and the direction of the magnetic flux generated by the first drive coil of the fourth electromagnetic drive unit 34 are opposite to each other. Similarly, the amount of current flowing through the pair of the first drive coil 721 of the second electromagnetic drive unit 32 and the first drive coil 722 of the third electromagnetic drive unit 33 is the same. The direction of the magnetic flux generated by the first drive coil 721 of the second electromagnetic drive unit 32 and the direction of the magnetic flux generated by the first drive coil 722 of the third electromagnetic drive unit 33 are opposite to each other. Further, the direction of the magnetic flux generated by the first drive coil 720 of the first electromagnetic drive unit 31 and the direction of the magnetic flux generated by the first drive coil 721 of the second electromagnetic drive unit 32 are the same. The direction of the magnetic flux generated by the first drive coil 722 of the third electromagnetic drive unit 33 and the direction of the magnetic flux generated by the first drive coil of the fourth electromagnetic drive unit 34 are the same. The pair of the first drive coil 720 of the first electromagnetic drive unit 31 and the first drive coil of the fourth electromagnetic drive unit 34, and the first drive coil 721 and the third electromagnetic drive unit 33 of the second electromagnetic drive unit 32. The movable unit 10 may be rotated in the tilting direction by passing a current through each of the second drive coils of at least one pair of the pair with the first drive coil 722.

(4-2) Modification 2
In the above embodiment, the magnetic yokes 710, 711 and 712 are arranged so that the centers of gravity of the magnetic yokes 710, 711 and 712 are located on one side (downward) of the second axis 1c with respect to the rotation center 510. However, it is not limited to this configuration.

The magnetic yokes 710, 711 and 712 may be arranged so that the centers of gravity of the magnetic yokes 710, 711 and 712 are located above the second axis 1c with respect to the rotation center 510. In this case, the angle formed by each straight line connecting the center of rotation 510 and the center of gravity of each of the magnetic yokes 710, 711, 712 and the reference plane is preferably 45 degrees or less.

Further, the vector of the magnetic attraction force generated in each of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 is an upward vector with respect to the reference plane. Therefore, the composite vector obtained by synthesizing the vectors of the magnetic attraction generated in each of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 is 510 cores during rotation in the rotation range of the movable unit 10. It faces one side (upward) of the second axis.

Further, the present modification 2 is also applicable to the modification 1. In this case, the magnetic yoke of the fourth electromagnetic drive unit is arranged so that the center of gravity of the magnetic yoke of the fourth electromagnetic drive unit is located above the second axis 1c with respect to the rotation center 510.

(4-3) Modification 3
In the above embodiment, the free fitting member 501 is fixed to the inner peripheral surface 410 with an adhesive or the like, but the structure is not limited to this.

The free fitting member 501 may be fixed to the free fitting surface 503 of the arm 50 included in the fixing unit 20 with an adhesive or the like. In this case, the free fitting member 501 comes into contact with the inner peripheral surface 410 as the free fitting surface, so that the movable unit 10 can rotate.

(4-4) Modification 4
In the above embodiment, the rotation direction with the second axis 1c as the rotation axis is the panning direction, but the present invention is not limited to this. The rotation direction with the second axis 1c as the rotation axis may be the tilting direction.

(4-5) Modification 5
In the above embodiment, the fixed unit 20 of the camera device 1 is configured to rotatably hold the movable unit 10 in each of the panning direction, the tilting direction, and the rolling method, but the present invention is not limited to this configuration.

The fixed unit 20 may hold the movable unit 10 rotatably in the rotation direction with the first axis 1b as the rotation axis and the rolling method in the panning direction and the tilting direction, respectively. That is, the fixed unit 20 holds the movable unit 10 so as to be rotatable in at least one rotation direction and rolling direction in the panning direction and the tilting direction.

(4-6) Modification 6
In the above embodiment, the first electromagnetic drive unit 31 has a second drive coil 730, the second electromagnetic drive unit 32 has a second drive coil 731, and the third electromagnetic drive unit 33 has a second drive coil 732, respectively. However, it is not limited to this configuration.

At least one of the first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 may have a second drive coil.

(4-7) Modification 7
In the above embodiment, the magnetic yokes 710, 711 and 712 have a flat plate shape, but the configuration is not limited to this.

The magnetic yokes 710, 711, 712 may have an arc shape. For example, the magnetic yokes 710, 711, 712 may have an arc shape centered on the rotation center 510. In this case, the first drive coil 720, 721, 722 and the second drive coil 730, 731, 732 are wound along the shape of the corresponding magnetic yoke among the magnetic yokes 710, 711, 712. That is, the first drive coil 720, 721, 722 and the second drive coil 730, 731, 732 have an arc shape centered on the rotation center 510, like the magnetic yokes 710, 711, 712.

(Embodiment 2)
In the first embodiment, it is applied to a device (camera) that inputs (incidents) light. The second embodiment is different from the first embodiment in that the actuator 2 is applied to the device that outputs light.

In the second embodiment, a case where the actuator 2 is applied to a lidar (LiDAR: Light Detection and Ranging) 1000 will be described.

The rider 1000 irradiates the space with a pulsed laser beam and receives the reflected light reflected by an object in the space. The rider 1000 detects the distance to the object based on the time from emitting the laser beam to receiving the reflected light. That is, the rider 1000 of the second embodiment has an optical output function for outputting light and an optical input function for inputting reflected light.

As shown in FIG. 11, the rider 1000 includes an optical output unit 1003, an optical input unit 1004, a first mirror 1010, a second mirror 1011 and a control unit 1012, and a plurality of (here, two) actuators 2. When distinguishing the actuator 2, it is described as the actuator 2a and the actuator 2b.

The light output unit 1003 is a laser element that emits laser light. The light output unit 1003 has an emission unit 1100 such as a lens that passes when the laser beam is emitted, and an optical axis 1a. The optical output unit 1003 is attached to the actuator 2a. Specifically, the optical output unit 1003 is held by the movable unit 10 of the actuator 2a. At this time, the first electromagnetic drive unit 31 and the second electromagnetic drive unit 32 of the actuator 2a are arranged along the first axis 1b and are on the same side as the emission unit 1100 of the optical output unit 1003 with respect to the first axis 1b. Is placed in. The second electromagnetic drive unit 32 of the actuator 2a is symmetrically arranged on the first electromagnetic drive unit 31 of the actuator 2a with respect to the optical axis 1a when the optical output unit 1003 is in the neutral state. For example, the second electromagnetic drive unit 32 of the actuator 2a is arranged line-symmetrically (or point-symmetrically) with respect to the first electromagnetic drive unit 31 of the actuator 2a with respect to the optical axis 1a when the optical output unit 1003 is in the neutral state. Will be done. The third electromagnetic drive unit 33 of the actuator 2a is arranged on the side opposite to the exit unit 1100 with respect to the first shaft 1b. The first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 of the actuator 2a are arranged around the second shaft 1c.

The optical input unit 1004 is a light receiving element that inputs reflected light. The optical input unit 1004 has an incident unit 1101 such as a lens that passes when reflected light is input, and an optical axis 1a. The optical output unit 1003 is attached to the actuator 2b. Specifically, the optical input unit 1004 is held by the movable unit 10 of the actuator 2b. At this time, the first electromagnetic drive unit 31 and the second electromagnetic drive unit 32 of the actuator 2b are arranged along the first axis 1b and are on the same side as the incident unit 1101 of the optical input unit 1004 with respect to the first axis 1b. Is placed in. The second electromagnetic drive unit 32 of the actuator 2b is symmetrically arranged on the first electromagnetic drive unit 31 of the actuator 2b with respect to the optical axis 1a when the optical input unit 1004 is in the neutral state. For example, the second electromagnetic drive unit 32 of the actuator 2b is arranged line-symmetrically (or point-symmetrically) with respect to the first electromagnetic drive unit 31 of the actuator 2b with respect to the optical axis 1a when the optical output unit 1003 is in the neutral state. Will be done. The third electromagnetic drive unit 33 of the actuator 2b is arranged on the side opposite to the incident unit 1101 with respect to the first axis 1b. The first electromagnetic drive unit 31, the second electromagnetic drive unit 32, and the third electromagnetic drive unit 33 of the actuator 2b are arranged around the second shaft 1c.

The first mirror 1010 reflects the laser beam emitted from the light output unit 1003 toward the second mirror 1011.

The second mirror 1011 reflects the laser beam reflected from the first mirror 1010 so as to be emitted into space. The second mirror 1011 reflects the reflected light reflected by an object in space toward the light input unit 1004.

The control unit 1012 controls the second mirror 1011 in order to rotate the second mirror 1011 or move it in a predetermined direction (for example, in the vertical direction).

The optical output function of the rider 1000 is realized by an optical output device 1001 including an actuator 2a and an optical output unit 1003.

The optical input function of the rider 1000 is realized by an optical input device 1002 including an actuator 2b and an optical input unit 1004.

As described above, the actuator 2a of the second embodiment can drive the light output unit 1003 in a desired rotation direction and suppress unnecessary shaking of the light output unit 1003. As a result, the emission direction of the laser beam emitted from the light output unit 1003 can be kept constant. Further, the actuator 2b of the second embodiment can drive the optical input unit 1004 in a desired rotation direction and suppress unnecessary shaking of the optical input unit 1004. As a result, the input direction of the reflected light input to the light input unit 1004 can be kept constant.

Also in the second embodiment, the modifications 1 to 7 of the first embodiment can be applied.

In the present embodiment, the actuator 2a is applied to the optical output device 1001 having the optical output function of the rider 1000, but the present invention is not limited to this. The actuator 2 (2a) may be applied to an optical output device such as a projector that outputs light.

(Summary)
As described above, the camera device (1,1A) of the first aspect includes the camera (3), the movable unit (10) for holding the camera (3), the fixed unit (20), and the electromagnetic drive unit. (30, 30A) and. The camera (3) has an incident portion (lens 3b) for incident light and an optical axis (1a). The fixed unit (20) holds the movable unit (10) rotatably in at least one rotational direction and rolling direction in the panning direction and the tilting direction. The electromagnetic drive unit (30, 30A) rotationally drives the movable unit (10) with respect to the fixed unit (20) in at least one of the above directions and in the rolling direction. Each of the electromagnetic drive units (30, 30A) has a drive magnet (620, 621, 622), a magnetic yoke (710, 711, 712), and a drive coil (first drive coil 720, 721, 722). It includes an electromagnetic drive unit (31), a second electromagnetic drive unit (32), and a third electromagnetic drive unit (33). The driving magnets (620, 621, 622) are provided on the movable unit (10). The magnetic yokes (710,711,712) are provided on the fixed unit (20). The drive coil (first drive coil 720, 721, 722) is wound around a magnetic yoke (710, 711, 712). The optical axis (1a) is orthogonal to the first axis (1b) passing through the rotation center (510) of the movable unit (10) and the second axis (1b) passing through the rotation center (510). It intersects each of 1c). The first electromagnetic drive unit (31) and the second electromagnetic drive unit (32) are arranged along the first axis (1b) and on the same side as the incident portion with respect to the first axis (1b). .. The second electromagnetic drive unit (32) is symmetrically arranged on the first electromagnetic drive unit (31) with respect to the optical axis (1a) when the camera (3) is in the neutral state. The third electromagnetic drive unit (33) is arranged on the side opposite to the incident unit with respect to the first axis (1b). The first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit (33) are arranged around the second axis (1c).

According to this configuration, the area around the camera (3) centered on the optical axis (1a) in the neutral state of the movable unit (10) can be reduced. Therefore, the size of the camera device (1, 1A) can be reduced.

In the camera device (1,1A) of the second aspect, in the first aspect, it is included in each of the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit (33). The drive coil is wound along the second axis (1c). The at least one rotation direction of the panning direction and the tilting direction includes a rotation direction with the first axis (1b) as the rotation axis. The movable unit (10) rotates in the rolling direction when a current flows through at least one drive coil of the first electromagnetic drive unit (31) and the second electromagnetic drive unit (32). A rotation direction with the first axis as the rotation axis due to the current flowing through each drive coil of the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit (33). Rotate to.

According to this configuration, a current is passed through each drive coil of the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit (33), so that the first shaft (1b) is passed. ) Can be rotated in the rotation direction with the rotation axis as the rotation axis.

In the camera device (1,1A) of the third aspect, in the second aspect, at least one of the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit (33). One drive unit is a drive coil wound along the second axis (1c) and another drive coil wound in a direction orthogonal to the direction along the second axis (1c) (second drive coil 730). , 731,732). When a current flows through the other drive coil, the movable unit (10) moves in a rotation direction different from the rotation direction with the first axis (1b) as the rotation axis in the panning direction and the tilting direction. Rotate.

According to this configuration, the movable unit (10) can be rotated in a rotation direction different from the rotation direction with the first axis (1b) as the rotation axis by passing an electric current through another drive coil.

In the camera device (1,1A) of the fourth aspect, in any one of the first to third aspects, the incident unit, the first electromagnetic drive unit (31), and the second electromagnetic drive unit (32) are the cameras (32). When viewed from the direction of the optical axis (1a) when 3) is in the neutral state, the first electromagnetic drive unit (31), the incident unit, and the second electromagnetic drive unit (31) are along the first axis (1b). It is arranged in the order of 32).

According to this configuration, the mounting area of the camera (3) and the electromagnetic drive unit (30, 30A) can be reduced.

In the camera device (1) of the fifth aspect, in any one of the first to fourth aspects, at least a part of the third electromagnetic drive unit (33) is in the case where the camera (3) is in the neutral state. It is arranged on an extension of the optical axis (1a).

According to this configuration, the camera device (1, 1A) can be miniaturized.

In the camera device (1,1A) of the sixth aspect, in any one of the first to fifth aspects, the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit ( 33) is configured to be able to control the rotation of the movable unit (10) independently of each other.

According to this configuration, the movable unit (10) can be rotated by each of the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit (33).

In the camera device (1,1A) of the seventh aspect, in any one of the first to sixth aspects, the fixing unit (20) has a fixing portion (second housing 4b). The fixing portion fixes the drive coils of the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit (33).

According to this configuration, the drive coil can be more reliably fixed by the fixing portion.

In the camera device (1,1A) of the eighth aspect, in any one of the first to seventh aspects, one unit of the fixed unit (20) and the movable unit (10) is a free fitting surface (for example,). , Has a free fitting surface 503). The other unit of the fixed unit (20) and the movable unit (10) has a free fitting member (501) that loosely fits with the free fitting surface (for example, the free fitting surface 503).

According to this configuration, the movable unit (10) and the fixed unit (20) can be more reliably loosely fitted.

In the camera device (1,1A) of the ninth aspect, in the eighth aspect, it occurs in each of the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit (33). Due to the magnetic attraction, the free fitting surface and the free fitting member (501) come into contact with each other.

According to this configuration, the movable unit (10) and the fixed unit (20) can be loosely fitted by the magnetic attraction force.

In the camera device (1,1A) of the tenth aspect, in the ninth aspect, the fixed unit (20) has an arm (50). The arm (50) extends toward a free fitting space (550) into which the free fitting surface and the free fitting member (501) are loosely fitted, and has a free fitting surface (503).

According to this configuration, the movable unit (10) and the fixed unit (20) can be loosely fitted via the loose fitting member (501).

In the camera device (1,1A) of the eleventh aspect, in the tenth aspect, the arm (50) has a first arm (50a) and a second arm (50b). The first arm (50a) is arranged between the first electromagnetic drive unit (31) and the third electromagnetic drive unit (33). The second arm (50b) is arranged between the second electromagnetic drive unit (32) and the third electromagnetic drive unit (33), and is provided on the optical axis (1a) when the camera (3) is in the neutral state. On the other hand, they are symmetrically arranged on the first arm (50a). The first arm (50a) and the second arm (50b) are arranged along the first axis (1b). A free fitting surface (503) is provided at a joint portion between the first arm (50a) and the second arm (50b).

According to this configuration, the movable unit (10) and the fixed unit (20) can be loosely fitted via the loose fitting member (501).

In the camera device (1,1A) of the twelfth aspect, in any one of the first to eleventh aspects, the composite vector (F2) is relative to the rotation center (510) in the rotation range of the movable unit (10). It faces one side of the second axis (1c). The composite vector (F2) is a vector obtained by synthesizing the vectors of the magnetic attraction force (F1) generated in each of the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit (33). is there.

According to this configuration, the movable unit (10) and the fixed unit (20) can be loosely fitted by utilizing the magnetic attraction force (F1).

In the camera device (1,1A) of the thirteenth aspect, in the twelfth aspect, each of the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit (33) is driven. In the magnet (620, 621, 622), the center of gravity of the driving magnet (620, 621, 622) is arranged on one side of the second axis (1c) with respect to the center of rotation (510).

According to this configuration, the composite vector (F2) can be reliably oriented to one side of the second axis (1c) with respect to the center of rotation (510).

In the camera device (1,1A) of the fourteenth aspect, in the twelfth or thirteenth aspect, the line connecting the center of gravity of the magnetic yoke (710,711,712) and the center of rotation (510) is the line connecting the camera (3). The angle formed by the plane including the optical axis (1a) and the first axis (1b) in the neutral state is 45 degrees or less.

According to this configuration, the movable unit (10) and the fixed unit (20) can be more reliably loosely fitted.

The camera device (1,1A) of the fifteenth aspect is provided on the protrusion (641) provided on the movable unit (10) and the fixed unit (20) in any one of the first to fourteenth aspects. The opening (5) is further provided. The protrusion (641) regulates the rotation of the movable unit (10) by rotating the movable unit (10) and causing the protrusion (641) to come into contact with the opening (5).

According to this configuration, the movable unit (10) can be rotated within a predetermined range.

The camera device (1,1A) of the sixteenth aspect further includes a detection unit (920) for detecting the rotation of the movable unit (10) in any one of the first to fifteenth aspects. The detection unit (920) includes a position detection magnet (650) provided on the movable unit (10), a magnetic sensor (92), and a magnetic sensor (92) on one side of the second axis (1c) with respect to the rotation center (510). Has. The magnetic sensor (92) faces the position detection magnet (650) and is provided on the fixed unit (20) around the second axis (1c).

According to this configuration, it is possible to detect the angle at the time of rotation in the rotation about the optical axis (1a) and the rotation about the first axis (1b).

The camera device (1,1A) of the seventeenth aspect further includes a connector (301) in the sixteenth aspect. The connector (301) is provided at the end of the imaging signal output line (300) connected to the camera (3). The connector (301) is arranged on the other side of the second axis (1c) with respect to the center of rotation (510).

According to this configuration, the image pickup signal output line (300) can be provided on the side opposite to the position detection magnet (650).

In the camera device (1A) of the eighteenth aspect, in any one of the first to fourth aspects, the electromagnetic drive unit (30A) further includes a fourth electromagnetic drive unit (34). The fourth electromagnetic drive unit (34) is arranged on the side opposite to the incident unit with respect to the first axis (1b). The fourth electromagnetic drive unit (34) is symmetrically arranged on the third electromagnetic drive unit (33) with respect to the optical axis (1a) when the camera (3) is in the neutral state.

According to this configuration, the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), the third electromagnetic drive unit (33), and the fourth electromagnetic drive unit (34) are centered on the optical axis (1a). Since the movable unit (10) is not arranged around the camera 3, the area around the camera 3 centered on the optical axis (1a) in the neutral state can be reduced. Therefore, the size of the camera device (1A) can be reduced.

In the camera device (1A) of the nineteenth aspect, in the eighteenth aspect, the first electromagnetic drive unit (31) and the third electromagnetic drive unit (33) are the camera (3) when viewed from the second axis (1c). ) Is arranged on one side with respect to the optical axis (1a) in the neutral state. Seen from the second axis (1c), the second electromagnetic drive unit (32) and the fourth electromagnetic drive unit (34) are relative to the optical axis (1a) when the camera (3) is in the neutral state. It is located on the other side. The first electromagnetic drive unit (31) and the fourth electromagnetic drive unit (34) are independently movable units (10) with respect to the second electromagnetic drive unit (32) and the third electromagnetic drive unit (33). It is configured so that the rotation can be controlled.

According to this configuration, the movable unit (10) is formed by using the first electromagnetic drive unit (31), the second electromagnetic drive unit (32), the third electromagnetic drive unit (33), and the fourth electromagnetic drive unit (34). Can be rotated.

The optical output device (1001) of the twentieth aspect includes an optical output unit (1003), a movable unit (10) for holding the optical output unit (1003), a fixed unit (20), and an electromagnetic drive unit (30, 30A) and. The optical output unit (1003) has an exit unit (1100) for emitting light and an optical axis (1a). The fixed unit (20) holds the movable unit (10) rotatably in at least one rotational direction and rolling direction in the panning direction and the tilting direction. The electromagnetic drive unit (30, 30A) rotationally drives the movable unit (10) with respect to the fixed unit (20) in at least one of the above directions and in the rolling direction. Each of the electromagnetic drive units (30, 30A) has a drive magnet (620, 621, 622), a magnetic yoke (710, 711, 712), and a drive coil (first drive coil 720, 721, 722). It includes an electromagnetic drive unit (31), a second electromagnetic drive unit (32), and a third electromagnetic drive unit (33). The driving magnets (620, 621, 622) are provided on the movable unit (10). The magnetic yokes (710,711,712) are provided on the fixed unit (20). The drive coil (first drive coil 720, 721, 722) is wound around a magnetic yoke (710, 711, 712). The optical axis (1a) is orthogonal to the first axis (1b) passing through the rotation center (510) of the movable unit (10) and the second axis (1b) passing through the rotation center (510). It intersects each of 1c). The first electromagnetic drive unit (31) and the second electromagnetic drive unit (32) are arranged along the first axis (1b) and on the same side as the incident portion with respect to the first axis (1b). .. The second electromagnetic drive unit (32) is symmetrically arranged on the first electromagnetic drive unit (31) with respect to the optical axis (1a) when the camera (3) is in the neutral state. The third electromagnetic drive unit (33) is arranged on the side opposite to the incident unit with respect to the first axis (1b). The first electromagnetic drive unit (31), the second electromagnetic drive unit (32), and the third electromagnetic drive unit (33) are arranged around the second axis (1c).

According to this configuration, the area around the optical output unit (1003) centered on the optical axis (1a) in the neutral state of the movable unit (10) can be reduced. Therefore, the optical output device (1001) can be miniaturized.

1, 1A camera device 3 camera 3b lens (incident part)
4 Housing 4a 1st housing 4b 2nd housing (fixed part)
5 Opening 10 Movable unit 20 Fixed unit 30 Electromagnetic drive unit 30A Electromagnetic drive unit 31 1st electromagnetic drive unit 32 2nd electromagnetic drive unit 33 3rd electromagnetic drive unit 34 4th electromagnetic drive unit 50 arm 50a 1st arm 50b 2nd Arms 92, 92a, 92b Magnetic sensor 300 Imaging signal output line 301 Connector 410 Inner peripheral surface (free fitting surface)
501 Free-fitting member 503 Free-fitting surface 510 Rotation center 550 Free-fitting space 620, 621, 622 Drive magnet 641 Projection 650 Position detection magnet 710, 711,712 Magnetic yoke 720, 721,722 First drive coil (drive coil)
730,731,732 2nd drive coil (another drive coil)
920 Detector 1000 Rider 1001 Optical output device 1002 Optical input device 1003 Optical output unit 1004 Optical input unit 1100 Output unit 1101 Incident unit 1a Optical axis 1b 1st axis 1c 2nd axis F1 Magnetic attraction F2 Composite vector

Claims (20)

A camera having an incident part and an optical axis that incident light,
A movable unit that holds the camera and
A fixed unit that rotatably holds the movable unit in at least one rotation direction and rolling direction in the panning direction and the tilting direction, and a fixed unit.
The movable unit is provided with an electromagnetic drive unit that rotationally drives the movable unit in the at least one direction and the rolling direction with respect to the fixed unit.
The electromagnetic drive unit includes a first electromagnetic drive unit having a drive magnet provided in the movable unit, a magnetic yoke provided in the fixed unit, and a drive coil wound around the magnetic yoke, and a second electromagnetic drive unit. Including the electromagnetic drive unit and the third electromagnetic drive unit,
The optical axis intersects each of the first axis passing through the center of rotation of the movable unit and the second axis orthogonal to the first axis and passing through the center of rotation.
The first electromagnetic drive unit and the second electromagnetic drive unit are arranged along the first axis and are arranged on the same side as the incident portion with respect to the first axis.
The second electromagnetic drive unit is symmetrically arranged on the first electromagnetic drive unit with respect to the optical axis when the camera is in the neutral state.
The third electromagnetic drive unit is arranged on the side opposite to the incident unit with respect to the first axis.
The first electromagnetic drive unit, the second electromagnetic drive unit, and the third electromagnetic drive unit are arranged around the second axis.
Camera device. The drive coil included in each of the first electromagnetic drive unit, the second electromagnetic drive unit, and the third electromagnetic drive unit is wound along the second axis.
The at least one rotation direction of the panning direction and the tilting direction includes a rotation direction with the first axis as a rotation axis.
The movable unit is
When a current flows through at least one of the first electromagnetic drive unit and the second electromagnetic drive unit, the drive coil rotates in the rolling direction.
A current flows through the drive coils of the first electromagnetic drive unit, the second electromagnetic drive unit, and the third electromagnetic drive unit, so that the coil rotates in the rotation direction with the first axis as the rotation axis. ,
The camera device according to claim 1. At least one of the first electromagnetic drive unit, the second electromagnetic drive unit, and the third electromagnetic drive unit is formed on the drive coil wound along the second axis and the second axis. With another drive coil, which is wound in a direction orthogonal to the direction along the line,
The movable unit rotates in a rotation direction different from the rotation direction having the first axis as a rotation axis in the panning direction and the tilting direction due to a current flowing through the other drive coil. To do,
The camera device according to claim 2. The incident portion, the first electromagnetic drive unit, and the second electromagnetic drive unit are the first along the first axis when viewed from the direction of the optical axis when the camera is in a neutral state. The electromagnetic drive unit, the incident unit, and the second electromagnetic drive unit are arranged in this order.
The camera device according to any one of claims 1 to 3. At least a part of the third electromagnetic drive unit is arranged on an extension line of the optical axis when the camera is in a neutral state.
The camera device according to any one of claims 1 to 4. The first electromagnetic drive unit, the second electromagnetic drive unit, and the third electromagnetic drive unit are configured to be able to control the rotation of the movable unit independently of each other.
The camera device according to any one of claims 1 to 5. The fixing unit has a fixing portion for fixing the drive coil of the first electromagnetic drive unit, the second electromagnetic drive unit, and the third electromagnetic drive unit.
The camera device according to any one of claims 1 to 6. One of the fixed unit and the movable unit has a free fitting surface and has a free fitting surface.
The other unit of the fixed unit and the movable unit has a loose fitting member that loosely fits with the free fitting surface.
The camera device according to any one of claims 1 to 7. The free fitting surface and the free fitting member come into contact with each other due to the magnetic attraction generated in each of the first electromagnetic driving unit, the second electromagnetic driving unit, and the third electromagnetic driving unit.
The camera device according to claim 8. The fixed unit is
An arm having the play-fitting surface extending toward a play-fitting space in which the play-fitting surface and the play-fitting member are loosely fitted is included.
The camera device according to claim 9. The arm
A first arm arranged between the first electromagnetic drive unit and the third electromagnetic drive unit,
A second arm arranged between the second electromagnetic drive unit and the third electromagnetic drive unit and symmetrically arranged on the first arm with respect to the optical axis when the camera is in a neutral state. Have,
The first arm and the second arm are arranged along the first axis.
The free fitting surface is provided at a joint portion between the first arm and the second arm.
The camera device according to claim 10. The composite vector obtained by synthesizing the vectors of the magnetic attraction forces generated in each of the first electromagnetic drive unit, the second electromagnetic drive unit, and the third electromagnetic drive unit is in the rotation range of the movable unit with respect to the rotation center. Facing one side of the second axis,
The camera device according to any one of claims 1 to 11. In each of the first electromagnetic drive unit, the second electromagnetic drive unit, and the third electromagnetic drive unit, the center of gravity of the drive magnet is arranged on one side of the second axis with respect to the rotation center. Was done
The camera device according to claim 12. The angle at which the line connecting the center of gravity of the magnetic yoke and the center of rotation forms a plane including the optical axis and the first axis when the camera is in the neutral state is 45 degrees or less.
The camera device according to claim 12 or 13. The protrusions provided on the movable unit and
Further provided with an opening provided in the fixing unit,
The protrusion regulates the rotation of the movable unit by rotating the movable unit and causing the protrusion to abut on the opening.
The camera device according to any one of claims 1 to 14. A detection unit for detecting the rotation of the movable unit is further provided.
The detection unit
On one side of the second axis with respect to the center of rotation,
The position detection magnet provided on the movable unit and
It has a magnetic sensor that faces the position detection magnet and is provided on the fixed unit around the second axis.
The camera device according to any one of claims 1 to 15. A connector provided at the end of the imaging signal output line connected to the camera is further provided.
The connector is arranged on the other side of the second axis with respect to the center of rotation.
The camera device according to claim 16. The electromagnetic drive unit further includes a fourth electromagnetic drive unit.
The fourth electromagnetic drive unit is arranged on the side opposite to the incident unit with respect to the first axis.
The fourth electromagnetic drive unit is arranged symmetrically with respect to the optical axis when the camera is in the neutral state.
The camera device according to any one of claims 1 to 4. Seen from the second axis
The first electromagnetic drive unit and the third electromagnetic drive unit are arranged on one side of the optical axis when the camera is in the neutral state.
The second electromagnetic drive unit and the fourth electromagnetic drive unit are arranged on the opposite side of the optical axis when the camera is in the neutral state.
The first electromagnetic drive unit and the fourth electromagnetic drive unit are configured to be able to control the rotation of the movable unit independently of the second electromagnetic drive unit and the third electromagnetic drive unit.
The camera device according to claim 18. An optical output unit having an exit unit that emits light and an optical axis,
A movable unit that holds the optical output unit and
A fixed unit that rotatably holds the movable unit in at least one rotation direction and rolling direction in the panning direction and the tilting direction, and a fixed unit.
The movable unit is provided with an electromagnetic drive unit that rotationally drives the movable unit in the at least one direction and the rolling direction with respect to the fixed unit.
The electromagnetic drive unit
A first electromagnetic drive unit, a second electromagnetic drive unit, and a second electromagnetic drive unit, each of which has a drive magnet provided in the movable unit, a magnetic yoke provided in the fixed unit, and a drive coil wound around the magnetic yoke. 3 Including electromagnetic drive unit
The optical axis intersects each of the first axis passing through the center of rotation of the movable unit and the second axis orthogonal to the first axis and passing through the center of rotation.
The first electromagnetic drive unit and the second electromagnetic drive unit are arranged along the first axis and are arranged on the same side as the exit unit with respect to the first axis.
The second electromagnetic drive unit is symmetrically arranged on the first electromagnetic drive unit with respect to the optical axis when the optical output unit is in the neutral state.
The third electromagnetic drive unit is arranged on the side opposite to the exit unit with respect to the first axis.
The first electromagnetic drive unit, the second electromagnetic drive unit, and the third electromagnetic drive unit are arranged around the second axis.
Optical output device.

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